# Nonsmooth$H_infty$Synthesis

@article{Apkarian2006NonsmoothH\_inftySynthesis, title={Nonsmooth\$H\_infty\$Synthesis}, author={Pierre Apkarian and Dominikus Noll}, journal={IEEE Transactions on Automatic Control}, year={2006}, volume={51}, pages={71-86} }

We develop nonsmooth optimization techniques to solve$H_infty$synthesis problems under additional structural constraints on the controller. Our approach avoids the use of Lyapunov variables and therefore leads to moderate size optimization programs even for very large systems. The proposed framework is versatile and can accommodate a number of challenging design problems including static, fixed-order, fixed-structure, decentralized control, design of PID controllers and simultaneous design and…

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